JP2001349405A - Moving direction guide device for swing arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an extracting machine capable of rapidly, consistently and reliably taking out a product such as a molding at a low cost. SOLUTION: This moving direction guide device for a swing arm 6 comprises converting means 7 and 8 for converting the rotational motion into the straight motion concentric with the axis of rotation of the swing arm 6, and a rotating means 9 connected thereto, and converts the rotational motion into the straight motion via the arch motion only by the rotation of the rotating means 9.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swing arm movement direction guide device capable of realizing a high-speed and high-accuracy operation for taking out a molded product, for example, when performing an arch motion.

[0002]

2. Description of the Related Art A conventional injection molding machine has, for example, a movable mold and a fixed mold. The molded product molded between the movable mold and the fixed mold is taken out of the movable mold at a high speed by a take-out machine which is a robot when the movable mold separates from the fixed mold. Specifically, this type of take-out machine includes, for example, a swing-type arm that detachably holds a molded product. When the movable arm is separated from the fixed mold and the molded product is taken out, the swing type arm swings to move to a certain target position, and the approach to the molded product for holding the molded product is performed in the swing operation plane. After moving the molded product vertically by, for example, holding the molded product by the suction means, returning to the swing plane again, moving vertically in the opposite direction to the above, and further swinging in the opposite direction to move the molded product to the movable mold. And from the fixed mold.

[0003]

By the way, in such a take-out machine, the swing operation and the approach operation of the swing-type arm are performed by driving two servo motors. In this case, since it is necessary to remove the molded product by a high-speed operation, the approaching operation is started at the swing operation end portion. That is, an arch operation is performed. However, in high-speed operation, it is difficult to control the synchronization of the two servomotors and perform the above-described arch operation, and the positioning of the arm to the target removal position varies, making removal impossible. I will. In addition, synchronous control using two servomotors is expensive mechanically and electrically,
Not suitable for production cost.

SUMMARY OF THE INVENTION In order to solve the above-mentioned problem, the present invention solves the above-mentioned problem by using a single servo motor driven by a cam mechanism to realize a swing operation, an approach operation and an arch operation at high speed and with high accuracy. The purpose is to provide the device at low cost.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above point. As a first invention, a conversion means 7 for converting a rotary motion into a linear motion coaxially with a rotation axis of a swing arm 6 is provided. , 8 and a rotating means 9 connected to each other, and a moving direction guide device for the swing arm 6 configured to convert a rotating motion into a linear motion through an arch motion only by the rotation driving of the rotating device 9 is described in the first embodiment. As the second invention,
The conversion means 7 and 8 are composed of two cam curves 21 and 22 and cam followers 18 and 19 for moving the respective cam curves, and the cam curves 21 and 22 are a cam groove 21 for a regulating curve and a cam for a driving curve. According to a third aspect of the present invention, a device for guiding the movement direction of the swing arm 6 including the groove 22 is a curve follower 21a, 22a having the same curvature in a conversion section (arch movement section) from rotary motion to linear motion. 3. The moving direction guide device for the swing arm 6 according to claim 2, wherein the tangents of the respective curves at the passing points are orthogonal to each other.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Although the following examples are preferred specific examples of the present invention, various technically preferable limitations are given. However, the scope of the present invention is not limited to the following description in particular. Are not limited to these embodiments unless otherwise described.

FIG. 1 is a side view showing a preferred embodiment of a swing arm moving direction guide device according to the present invention and an injection molding machine, and FIG. 2 is a swing arm used in the swing arm moving direction guide device according to the present invention. Arm plan view, FIG. 3
FIG. 4 is a side view of a takeout robot, which is a main part of FIG.
Is a side view of a cylindrical cam constituting a main part of the take-out robot, FIG. 5 is a development view of the cylindrical cam, and FIG. 6 is a partially enlarged view showing a state of a cam groove of the cylindrical cam constituting a main part of the take-out robot. FIG. 7 is a side view, FIG. 7 is an explanatory view showing a cam groove in a cylindrical cam constituting a main part of the take-out robot and a relation between the cam groove and the cam follower, and FIG. 8 is an explanatory view showing a relation between the take-out robot and a swing arm. FIG. 9 is a flowchart showing an operation example of taking out a molded product in one embodiment of the present invention. The take-out robot 30 in FIGS. 1 and 3 is used in the injection molding machine 10 in this example to take out a molded product F to be molded.

First, the injection molding machine 10 will be described mainly with reference to FIG. The injection molding machine 10 has a movable platen 1 and a fixed platen 3. The movable board 1 has a movable mold 2, and the fixed board 3 has a fixed mold 4. This movable board 1
Can be moved in the directions of arrows Z ₁ and Z ₂ by driving means (not shown). On the other hand, a passage (not shown) is formed in the fixed mold 4, and a material to be molded can be injected into the cavity 5 between the movable mold 2 and the fixed mold 4 through this passage. The molded product F is, for example, a disk-shaped molded product, and is used as a rotary information recording medium such as an optical disk or a magneto-optical disk.

Next, the take-out robot 30 is shown in FIG.
This will be described with reference to FIG. In each of the drawings, a take-out robot 30 includes a swing arm 6 serving as holding means for detachably holding a molded product F as an object, and moving the swing arm 6 to move the molded product F by moving the injection molding machine 10. Cylindrical cam 1 described below for removing from mold 2
7, drive side cam follower 18, fixed side cam follower 19
A conversion mechanism 7, a speed reduction mechanism 8, and a servo motor 9 are provided. Reference numeral 6a denotes a suction means provided at the tip of the swing arm 6.

Further, the structure of the swing arm 6 will be described. As shown in FIGS. 1 to 3, one end of the swing arm 6 has a shape in which a tip portion is slightly bent in the direction of the movable mold 2 so that a completed molded product F can be easily taken out. Is provided. The other end is a cam groove 21 for regulating curve (hereinafter, referred to as a cam groove 21) and a cam groove 22 for a driving curve (hereinafter, referred to as a cam groove 22) which will be described in detail later, which constitutes a part of the conversion means 7. Are fixed by a fixing means (not shown).

Next, the driving side cam follower 18 and the fixed side cam follower 19 which constitute a part of the conversion mechanism 7 will be described.
This will be mainly described with reference to FIG. In FIG. 3, only one is displayed and described, but the other has the same configuration, and the description and the like is omitted. FIG. 3 is a side view viewed from the opposite direction to the side view of FIG. 1 for convenience.

As shown in FIG. 3, the driving side cam follower 1
8 is fixed to one side of the rotating bracket 16, and the fixed cam followers 19 are fixed to one side of the fixed bracket 14, respectively. Further, the rotating bracket 16
Is fixed to a rotating shaft (main shaft) 13 by fixing means (not shown). Reference numeral 20 denotes a bearing provided between the rotating shaft 13 and the cylindrical cam 17. As shown in FIG. 1, a conversion mechanism 7 constituting a part of the take-out robot 30
The speed reduction mechanism 8 and the speed reduction mechanism 8 are connected to the servomotor 9 serving as rotating means by rotating shafts 11 and 12, respectively.

In this embodiment, the cam grooves 21 and 22 are used.
Has been described in the example provided on the cylindrical cam 17, but is not necessarily limited to this. For example, it is naturally possible to provide a cam groove in each of the cam followers 18 and 19 on the driving side and the fixed side. is there.

Next, referring to FIGS. 4A to 4C (see FIGS. 5 and 6 as necessary), the above-described cam grooves 21, cam grooves 22, and 22 formed in the cylindrical cam 17 will be described. How the cylindrical cam 17 moves by the engagement of the cam grooves 21 and 22 with the drive-side cam follower 18 and the fixed-side cam follower 19 will be described.

FIGS. 4A to 4C show how the cylindrical cam 17 is moved by the engagement of the cam grooves 21 and 22 provided in the cylindrical cam 17 with the drive side cam follower 18 and the fixed side cam follower 19. It is a side view which shows whether to go. As shown in this side view, the cam groove 22 provided in the cylindrical cam 17 is
Linear portion 22b transmitting rotation of drive side cam follower 18
And the inclined portion 2 that allows the cylindrical cam 17 to move downward.
2c and a curved portion 22a connecting the two, and a cam groove 21 formed so as to regulate the moving direction of the cylindrical cam 17, an arc portion 21b which enables the rotation of the cylindrical cam 17, It comprises a vertical portion 21c that enables the cylindrical cam 17 to move in the axial direction, and a curved portion 21a that connects these. A fixed cam follower 19 is engaged with the cam groove 21, and the cylindrical cam 17 is configured to move while being restricted by the fixed cam follower 19.

The curved portion 21a functions as a second cam groove guide. 21s is a second cam groove start end, and 21e is a second cam groove end. The curved portion 22a functions as a first cam groove guide. 2
2s is a first cam groove start end, and 22e is a first cam groove end. Although FIG. 4 shows only one side for the sake of convenience, it goes without saying that cam grooves 21 and 22 having the same configuration are provided on the other side (see FIG. 5). together,
FIG. 6 is a partially enlarged side view showing the state of the cam groove of the cylindrical cam 17 constituting a main part of the take-out robot.

As shown in FIGS. 4 (A) to 4 (C), and as will be described in detail later, in FIG. The curvature R1 (21a) of the curved portion of the groove 21 matches the curvature R2 (22a) of the curved portion of the cam groove 22. Further, the curvature 21a and the curvature 22a are configured to be orthogonal to each other in the tangential extension. The cylindrical cam 17 and the driving side cam follower 1
8, a specific description of the fixed side cam follower 19 and the like will be specifically described with reference to FIGS.

FIG. 7A is a configuration diagram of the cam groove 21 and the cam groove 22. As is clear from this figure, each of the cam grooves 21 and 22 has its curvature R1 (21) as described above.
a), the curvatures R2 (22a) are the same, and their widths W1 and W2 are also equal. The cam grooves 21, 22 and the cam follower surface are formed as the same cylindrical surface. In addition, 21e and 22e are the end parts of each cam groove.

FIG. 7B is an explanatory view showing a state before the fixed cam follower 19 and the driving cam follower 18 are mounted in the cam grooves 21 and 22, respectively, and the cylindrical cam 17 is not operated (rotated). It is. This FIG. 7 (B)
When the drive-side cam follower 18 is rotated in a predetermined direction in the state described above, the fixed-side cam follower 19 that applies a rotational force to the cylindrical cam 17 by engaging with the linear portion 22b of the cam groove 22,
Since the cylindrical cam 17 is engaged with the above-mentioned circular arc portion 21b, only the rotational movement is allowed, and the cylindrical cam 17 moves in the direction of the arrow in the figure. In the following description of FIG. 7, the arrow in front of the fixed side cam follower 19 indicates the direction in which the cylindrical cam 17 advances.

It is important that the direction of the force applied by the drive side cam follower 18 to the cam groove 22 and the direction in which the cylindrical cam 17 is regulated by the engagement between the fixed side cam follower 19 and the cam groove 21. Is consistent with Thereby, the cam groove 21 and the fixed side cam follower 1
The contact surface 9 can operate with little force. Therefore, an ideal power relationship can be obtained without waste, and a reasonable and smooth motion can be realized even at a high speed operation.

FIG. 7C is an explanatory view showing a state of the driving side cam follower 18 and the fixed side cam follower 19 when the curved portion 21a of the cam groove 21 approaches the fixed side cam follower 19 as the cylindrical cam 17 rotates. In this case, the direction of the force applied by the drive side cam follower 18 to the cam groove 22 and the angle A1 and B1 of the direction in which the cylindrical cam 17 advances while being regulated by the cam groove 21 are equal.

FIG. 7 (D) shows that the cylindrical cam 17 is further rotated so that the curved portion 21a of the cam groove 21 is fixed to the fixed side cam follower 19.
FIG. 4 is an explanatory view showing a state of the drive-side cam follower 18 and the fixed-side cam follower 19 when the drive cam follower 18 and the fixed cam follower 19 are engaged with each other. The angles A2 and B2 in the direction of travel while being regulated are equal.

FIG. 7 (E) shows that the cylindrical cam 17 is
FIG. 10 is an explanatory view showing the states of the drive side cam follower 18 and the fixed side cam follower 19 when the curved portion 21a of the cam groove 21 is about to be disengaged from the fixed side cam follower 19 by further rotating from the state of FIG. The angles A3 and B3 in the direction of the force applied by the cam follower 18 to the cam groove 22 and the direction in which the cylindrical cam 17 advances while being regulated by the cam groove 21.
Are equal.

FIG. 7 (F) shows that the cylindrical cam 17 is
FIG. 9 is an explanatory view showing the states of the drive side cam follower 18 and the fixed side cam follower 19 when the vertical portion 21c of the cam groove 21 is further rotated from the state of FIG. Cam groove 22
Is 60 °, and this angle is the maximum. At an angle larger than this, the angle B has a contact angle of the angle A-the angle B, and the drive side cam follower 18 abuts on the terminal end portion 22e of the cam groove 22, so that it does not rotate any more, and therefore, the fixed side The cam follower 19 pushes down the cylindrical cam 17 vertically. Although only one side is shown in FIG. 7 for the sake of convenience, it goes without saying that cam grooves 21 and 22 having the same configuration are provided on the other side.

Next, referring to FIG. 8, the related operation between the take-out robot 30 and the swing arm 6 will be described. FIG.
7A shows a state in which the fixed-side cam follower 19 and the drive-side cam follower 18 are mounted in the cam grooves 21 and 22 described with reference to FIG. 7B, respectively, and the cylindrical cam 17 corresponds to a state before the operation. FIG.
Shows a state at the position A in FIG. 1 described above.

FIG. 8B shows the driving cam follower 1 when the cylindrical cam 17 described with reference to FIG.
8 is an explanatory view corresponding to an explanatory view showing a state of the cam follower 8 and the fixed side cam follower 19, and shows a state in which the swing arm 6 moves from the position A to the position B in FIG. .

FIG. 8C is an explanatory view corresponding to the explanatory view showing the state of the drive-side cam follower 18 and the fixed-side cam follower 19 when the cylindrical cam 17 further rotates described in FIG. 7F. In this case, the swing arm 6 shows a state in which the swing arm 6 further shifts from the position shown in FIG.

Next, an operation example in this embodiment will be described based on steps ST1 to ST9 shown in the flowchart of FIG. First, in step ST1, the movable mold 2 of the movable board 1 and the fixed mold 4 of the fixed board 3 in FIG. 1 are closed. At this time, the resin is injected into the cavity 5, and the molded product F is molded.

When the movable mold 2 and the fixed mold 4 are closed, the swing arm 6 is located at the initial position A shown by a two-dot chain line as shown in FIG. In this initial state, the driving side cam follower 18 shown in FIG.
The fixed-side cam followers 19 are located at predetermined positions of the cam groove 22 and the cam groove 21, respectively (FIG. 7B,
FIG. 8A).

When an unillustrated control unit (not shown) receives an instruction from a program provided in the molding machine 10 and a drive unit (not shown) is driven to complete a predetermined molding operation, the molded product F is held in the mold. The movable mold 2 starts moving away from the fixed mold 4 (ST2) and stops at a predetermined position (mould opening completion position) (ST3). And this stop state,
For example, it is detected by detection means such as a sensor / switch provided in the molding machine 10. These operations are centrally managed by a program provided in the molding machine 10.

On the other hand, according to a program provided in the molding machine 10, the driving means is driven by a command from a control device which receives an instruction that the movable mold 2 has stopped at a predetermined position, or at the same time, or when the driving means is different. The motor 9 is driven. The rotational force of the servo motor 9 is decelerated mechanism 8 is transmitted to the swing arm 6 through a conversion mechanism 7 the swing arm 6 starts to swing movement in the direction of arrow R ₁ in FIG. 1 (see FIG. 7 (B) ) (ST4).

A control device (not shown) supplies a servo control signal to the servo motor 9 and drives the servo motor 9 by servo control by a rotation angle corresponding to a target value. By the servo control drive of the servo motor 9, the speed reduction mechanism 8 rotates the rotating shaft (main shaft) 13. Thus, the swing arm 6 proceeds linearly move or arch motion from the swing motion in the direction of the position B from the state of position A is a direction of arrow R ₁ in FIG. 1 (see FIG. 7 (D)).

In this case, as described above, the cam grooves 21, 2
2 has its shape as shown in FIG.
At the time of transition to the state of FIG. 7F, that is, the linear movement, the curvatures R1 (21a) and R2 (22a) of the two.
Are the same, and the tangential extension lines are configured to be orthogonal to each other, so that the linear motion can be smoothly shifted to by the combined force (combined force) of the respective contact angles.

As described above, the drive side cam follower 18 is
It moves from the first cam groove guide portion 22a in FIG. 7A toward the first cam groove end portion 22e which is the same end portion. On the other hand, the fixed side cam follower 19 moves from the starting end of the cam groove 21 (not shown) to the second cam groove end 21e, which is the same end, via the second cam groove guide 21a. That is, FIG.
In (A), the drive side cam follower 18 moves from the lower left to the upper right end, and the fixed side cam follower 19 moves from the lower right to the upper left end.

After the drive-side cam follower 18 enters the first cam groove end portion 22e from the first cam groove guide portion 22a, the swing arm 6 does not swing or rotate, but in the first direction in FIG. is only linearly moved leftward (arrow Z ₁ direction), the swing arm 6 is linearly moved in the position B in FIG. That is, the swing arm 6
The drive side cam follower 18 and the fixed side cam follower 19
7A so as to maximize the resultant force of the contact angle with respect to the linear direction.

The same can be said for the fixed side cam follower 19, as in the case of the drive side cam follower 18, as shown in FIG.
The state transitions from the state shown in FIG. 7B to the state shown in FIG. However, in this case, the fixed side cam follower 19 gives a feeling as to whether it is moving in the drawing.
Only the cylindrical cam 17 is moving.

Thereafter, as shown in FIG. 1, the swing arm 6 approaches the movable mold 2, and when the swing arm 6 comes into contact with the molded product F, an eject pin (not shown) operates to move the molded product F. Discharge from mold 2. When the swing arm 6 has not arrived at the molded product F, the swing arm 6 moves forward to a gripping position. The discharged molded product F is suction-held by suction means 6a at the tip of the swing arm 6 (ST).
5).

When it is confirmed that the molded product F has been sucked and held by the suction means 6a at the tip of the swing arm 6, the control device (not shown) gives a servo position control signal to the servo motor 9, and the servo motor 9 Start reverse rotation.

When the servomotor is rotated in the reverse direction, the swing arm 6 follows the reverse order. That is, the drive-side cam follower 18 in FIG. 7 (F) passes through the first cam groove guide portion 22a from the first cam groove end portion 22e, and
Move to the initial position of (B). That is, in FIG. 7, the drive-side cam follower 18 moves from the upper left to the lower right (ST6).

The same operation is performed by the fixed-side cam follower 19, and moves from the second cam groove end portion 21e to the initial position in FIG. 7B via the second cam groove guide portion 21a. That is, in FIG. 7, the fixed side cam follower 19 moves from the upper left to the lower right. And swing arm 6
Returns to the take-out completion position (ST7).

[0041] Incidentally, while the driving-side cam follower 18 is guided by the first cam groove guide portion 22a, the swing arm 6 is moved in a linear motion only in the R ₂ direction in FIG. 1,
No swing or rotational movement.

When the swing arm 6 returns to the take-out completion position, the control device (not shown) outputs a take-out completion signal to the molding machine, whereby the molding machine closes the mold and starts the next molding (ST8).

According to the structure of this embodiment, the time required for a conventional compact disk (CD) molding cycle is reduced by about 0.4 seconds, so that an increase in production by about 10% is expected. is there.

[0044]

As described above, according to the first aspect of the present invention, the converting means for converting the rotary motion into the linear motion is arranged coaxially with the rotation axis of the swing arm and the rotary means is connected. Since it is configured to convert from rotary motion to linear motion via arch motion only by the rotation drive of the rotating means, it can be configured at a lower cost than before, and to take out products such as molded products quickly, stably and reliably. Can be.

According to a second aspect of the present invention, the converting means comprises two cam curves and a cam follower for moving the respective cam curves, and the cam curves are a cam groove for a regulating curve and a cam for a driving curve. By being composed of the groove, a product such as a molded product can be more quickly, stably and reliably taken out.

According to a third aspect of the present invention, the conversion section (arch movement section) for converting the rotary motion into the linear motion has the same curvature, and the tangents of the curves at the cam follower passage points are orthogonal to each other. Therefore, a product such as a molded product can be more quickly, stably and reliably taken out.

[Brief description of the drawings]

FIG. 1 is a side view showing a preferred embodiment of a swing arm moving direction guide device and an injection molding machine according to the present invention.

FIG. 2 is a plan view of a swing arm used in the swing arm movement direction guide device according to the present invention.

FIG. 3 is a side view of a take-out robot which is a main part of FIG.

FIG. 4 is a side view of a cylindrical cam constituting a main part of the take-out robot.

FIG. 5 is a development view of a cylindrical cam.

FIG. 6 is a partially enlarged side view showing a state of a cam groove of a cylindrical cam constituting a main part of the take-out robot.

FIG. 7 is an explanatory view showing a cam groove of a cylindrical cam constituting a main part of the take-out robot and a relation between the cam groove and a cam follower.

FIG. 8 is an explanatory diagram showing a relationship between a take-out robot and a swing arm.

FIG. 9 is a flowchart showing an operation example of taking out a molded product in one embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 2 Movable type 4 Fixed type 6 Swing arm 7 Conversion mechanism 8 Reduction mechanism 9 Servo motor (rotating means) 17 Cylindrical cam 18 Drive side cam follower 19 Fixed side cam follower 21 Cam groove for regulation curve 22 Cam groove for drive curve

Claims (3)

[Claims] A conversion means for converting a rotary motion into a linear motion is arranged coaxially with a rotation axis of a swing arm and connected with a rotary means, and an arch motion is converted from a rotary motion only by a rotary drive of the rotary means. A moving direction guide device for a swing arm, wherein the moving direction is converted into a linear motion. 2. The conversion means comprises two cam curves and a cam follower for moving the respective cam curves, and the cam curve comprises a regulating curve cam groove and a driving curve cam groove. The swing arm movement direction guide device according to claim 1, wherein: 3. A conversion section (arch movement section) from rotary motion to linear motion, wherein the curves have the same curvature, and the tangents of the curves at the cam follower passage points are orthogonal to each other. 3. The moving direction guide device for a swing arm according to 2.